From 92462ffa64bbf44568e185a42a06fa8eab0e9c88 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= <mfc@leodrive.ai>
Date: Wed, 21 Feb 2024 21:02:29 +0300
Subject: [PATCH 1/3] fix(raw_vehicle_cmd_converter): csv paths are resolved in
 param.yaml
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
---
 .../config/raw_vehicle_cmd_converter.param.yaml            | 3 +++
 .../launch/raw_vehicle_converter.launch.xml                | 7 -------
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
index 1001696d96679..bce50a0b581c7 100644
--- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
+++ b/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
@@ -1,5 +1,8 @@
 /**:
   ros__parameters:
+    csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
+    csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
+    csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: true
diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
index a74cdcc56132d..0a9962a7c2a30 100644
--- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
+++ b/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
@@ -1,9 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
-  <arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
-  <arg name="csv_path_steer_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"/>
-
   <arg name="input_control_cmd" default="/control/command/control_cmd"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_steering" default="/vehicle/status/steering_status"/>
@@ -13,9 +9,6 @@
 
   <node pkg="raw_vehicle_cmd_converter" exec="raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
-    <param name="csv_path_accel_map" value="$(var csv_path_accel_map)"/>
-    <param name="csv_path_brake_map" value="$(var csv_path_brake_map)"/>
-    <param name="csv_path_steer_map" value="$(var csv_path_steer_map)"/>
     <remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/steering" to="$(var input_steering)"/>

From 4c8883a8a26a754366559e2bb50f6fcf10038f2d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= <mfc@leodrive.ai>
Date: Wed, 21 Feb 2024 21:44:36 +0300
Subject: [PATCH 2/3] bring back the schema defs
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
---
 .../schema/raw_vehicle_cmd_converter.schema.json  | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
index cc292c5a8c40f..4576a4457c05e 100644
--- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
+++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
@@ -6,6 +6,21 @@
     "raw_vehicle_cmd_converter": {
       "type": "object",
       "properties": {
+        "csv_path_accel_map": {
+          "type": "string",
+          "description": "path for acceleration map csv file",
+          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
+        },
+        "csv_path_brake_map": {
+          "type": "string",
+          "description": "path for brake map csv file",
+          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
+        },
+        "csv_path_steer_map": {
+          "type": "string",
+          "description": "path for steer map csv file",
+          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
+        },
         "convert_accel_cmd": {
           "type": "boolean",
           "description": "use accel or not",

From 7ad4075dd5f72345a5629795a0b756e67fe7c6b0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= <mfc@leodrive.ai>
Date: Thu, 22 Feb 2024 14:41:38 +0300
Subject: [PATCH 3/3] bring back removed map schema lines
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
---
 .../schema/raw_vehicle_cmd_converter.schema.json               | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
index 4576a4457c05e..4b562f401e09b 100644
--- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
+++ b/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
@@ -157,6 +157,9 @@
         }
       },
       "required": [
+        "csv_path_accel_map",
+        "csv_path_brake_map",
+        "csv_path_steer_map",
         "convert_accel_cmd",
         "convert_brake_cmd",
         "convert_steer_cmd",